 The kineto-statics duality [1]} along with the grasp rigidity suggest that the force \(h_{\scriptscriptstyle O}\)  acting on the object's center of mass and the generalized forces \(h_i,i\in \mathcal {N}\) , exerted by the agents at the grasping points, are related through:
\(h_{\scriptscriptstyle O}=G(x) h.\) 
